On periodically pendulum-diven systems for underactuated locomotion: A viscoelastic jointed model

Pengcheng Liu, Hongnian Yu, Shuang Cang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

10 Citations (Scopus)

Abstract

This paper investigates the locomotion principles and nonlinear dynamics of the periodically pendulum-driven (PD) systems using the case of a 2-DOF viscoelastic jointed model. As a mechanical system with underactuation degree one, the proposed system has strongly coupled nonlinearities and can be utilized as a potential benchmark for studying complicated PD systems. By mathematical modeling and non-dimensionalization of the physical system, an insight is obtained to the global system dynamics. The proposed 2-DOF viscoelastic jointed model establishes a commendable interconnection between the system dynamics and the periodically actuated force. Subsequently, the periodic locomotion principles of the actuated subsystem are elaborately studied and synthesized with the characteristic of viscoelastic element. Then the analysis of qualitative changes is conducted respectively under the varying excitation amplitude and frequency. Simulation results validate the efficiency and performance of the proposed system comparing with the conventional system.

Original languageEnglish
Title of host publication2015 21st International Conference on Automation and Computing
Subtitle of host publicationAutomation, Computing and Manufacturing for New Economic Growth, ICAC 2015
PublisherIEEE
Number of pages6
ISBN (Electronic)9780992680107
DOIs
Publication statusPublished - 2 Nov 2015
Event21st International Conference on Automation and Computing, ICAC 2015 - Glasgow, United Kingdom
Duration: 11 Sep 201512 Sep 2015

Conference

Conference21st International Conference on Automation and Computing, ICAC 2015
CountryUnited Kingdom
CityGlasgow
Period11/09/1512/09/15

Fingerprint

Dive into the research topics of 'On periodically pendulum-diven systems for underactuated locomotion: A viscoelastic jointed model'. Together they form a unique fingerprint.

Cite this